Miley Cyrus and Robin Thicke perform during the 2013 MTV Video Music Awards at the Barclays Center in New York City.More than a week after Miley Cyrus’ performance at the MTV Video Music Awards** set tongues wagging, the pop singer says that was pretty much her goal. Cyrus talked about her racy appearance with Robin Thicke for the first time in a clip given to MTV News from an in-progress documentary about the singer.

“Me and Robin the whole time said, ‘You know we’re about to make history right now,'” Cyrus said.

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The daring performance** received tons of attention, and plenty of criticism, for Cyrus’ salacious dancing, and now infamous twerking and grinding on Thicke, but she doesn’t mind. “You’re thinking about it more than I thought about it when I did it,” she said. “Like, I didn’t even think about it ’cause that’s just me.”

Cyrus cited plenty of precedent for creating a spectacle at the VMAs. “Madonna’s done it. Britney’s done it. Every VMA performance, that’s what you’re looking for; you’re wanting to make history,” said Cyrus!